function localization_init ( alg_param )
  global nodes_count;
  global S_Map;
  global N_Map;
  global radio_range;
  global D_Map;
    % nasze zmienne globalne
  global g1400_gps_count;
  global g1400_epsilon;
  global g1400_gamma;
  global g1400_k;
  global g1400_DDMap;
  global g1400_finished;
  global g1400_LMap;
  global g1400_LMap_next;
  global g1400_prog1;
  global g1400_prog2;
    g1400_finished = 0;   g1400_gps_count = 30;  g1400_epsilon = 10;   g1400_gamma = 0.30; % niecale 10 stopni 
  g1400_k = 20; % procent wstrzykiwanego bledu 
  g1400_prog1 = 2;  g1400_prog2 = 200;    g1400_DDMap = D_Map; % macierz odleglosci z wstrzyknietym bledem
  for i = 1:nodes_count  for j = 1:nodes_count  err = randi([-g1400_k,g1400_k])/100;  g1400_DDMap(i,j) = g1400_DDMap(i,j) * (1+err);  end
  end
    %
  % LMap(:,1) - status (1 - obrabiamy, 0 - omijamy)
  % LMap(:,2) - rodzaj wezla (0 - do niczego, 1 - kotwica, 2 - latarnia)
  % LMap(:,3) - x
  % LMap(:,4) - y
  % LMap(:,5) - e
  %
  g1400_LMap_next = zeros(nodes_count,5);  g1400_LMap_next (:,5) = 10000000;    % losujemy te z gpsem
  tmp = g1400_gps_count;  while tmp > 0  n = randi([0,nodes_count]);  if (g1400_LMap_next(n,2) == 0)  g1400_LMap_next(n,2) = 2; % ustawienie ze ten wezel jest latarnia
  g1400_LMap_next(n,3) = S_Map(n,1);  g1400_LMap_next(n,4) = S_Map(n,2);  g1400_LMap_next(n,5) = 0; % zerowy blad dla gps
  % powiadomienie sasiadow
  emit_data(n, false);    L = N_Map(n,1,1);  for i= 2:L+1  id = N_Map(n,i,1);  if (id == 0) % id=0 to stacja bazowa (?) - pomijamy w naszych rozwazaniach
  %N_Map(n,:,1)
  %i
  continue
  end
  recv_data(id);  g1400_LMap_next(id,1) = 1;  end
  tmp = tmp - 1;  localization_draw_point(n, -1);  % zasieg wezla gps:
  % localization_draw_circle(radio_range,S_Map(n,1),S_Map(n,2));
  end
  end
   end
 